Truck-mounted crane electric loading system and control method thereof

Abstract

The invention discloses a lorry-mounted crane electric loading system and a control method thereof, and relates to the technical field of lorry-mounted crane transport trucks.The electric loading system is characterized in that the electric quantity needed by unloading of the same goods is calculated based on the electric quantity consumed by a crane during loading, and the electric quantity at least needing to be supplemented on the way from a loading place to an unloading place is obtained; meanwhile, according to the electric quantity at least needing to be supplemented on the way from the loading place to the unloading place and road condition information obtained by the navigation information obtaining module, charging power at different road sections is intelligently distributed in cooperation with data obtained from the road vehicle running power database, and the charging efficiency is improved. Therefore, under the condition that normal driving of the transport vehicle on each road section is not affected, enough electric quantity meeting unloading is obtained before the transport vehicle arrives at the destination, and the influence of battery pack energy supplement on normal driving of the transport vehicle can be reduced to the maximum extent.

Description

Technical Field

[0001] The invention relates to the technical field related to truck-mounted crane transport vehicles, and in particular to an electric loading system for a truck-mounted crane and a control method thereof. Background Art

[0002] Truck crane, also known as truck-mounted lifting and transport vehicle, is a multifunctional special vehicle that integrates lifting and transport functions. Most truck cranes on the current market use fuel engines as power sources, which have problems such as high energy consumption, large emission pollution, and noise affecting the environment. With the increasingly stringent environmental protection regulations and the rapid development of new energy vehicle technology, electric-driven truck cranes have gradually become the development trend of the industry. However, the existing electric truck cranes still have many shortcomings in terms of endurance, power performance and intelligent management.

[0003] Due to various reasons such as power demand and usage characteristics, existing electric-powered truck cranes all use the vehicle's original power system as a power source, that is, the vehicle engine is used to drive the generator to generate electricity to replenish the on-board battery pack and thus supply energy to the crane. However, there are also many problems with using the vehicle engine to supply energy. Using the vehicle engine to drive the generator to generate electricity will inevitably affect the power delivered by the engine to the vehicle, causing the power performance of the vehicle to decrease during driving, affecting normal safe driving. For example, when going uphill, the generator power generation occupies part of the engine output power, so the transport vehicle may have difficulty going uphill. Although reducing the generator power generation power can reduce the impact on the normal driving of the vehicle, it may also lead to insufficient power storage of the crane, and lack of sufficient power for the crane to unload after arriving at the destination. Summary of the invention

[0004] The purpose of the present invention is to provide an electric loading system for a truck crane and a control method thereof, so as to solve the problem raised in the above background that it is difficult for a traditional truck crane powered by electricity to balance the influence of the generated power on the normal driving of the vehicle and the energy replenishment demand of the crane.

[0005] To achieve the above object, the present invention provides the following technical solutions: an electric loading system for a truck crane, the system comprising: a power generation module, an energy storage module, a power module and a display control module;

[0006] The power generation module uses the vehicle's original power output device as a power source to drive the generator to generate electricity; the energy storage module uses a 40kWh battery pack and is equipped with an automatic energy replenishment control system; the power module consists of an electric motor and a hydraulic pump, the battery drives the electric motor to drive the hydraulic pump, and the hydraulic pump drives the crane to perform various operating functions of the crane; the display control module is used to monitor the vehicle status in real time and adjust the operating parameters;

[0007] The energy replenishment automatic control system used in the energy storage module includes a navigation information acquisition module, a loading electricity monitoring module, an unloading electricity estimation module and a power generation distribution module; the navigation information acquisition module is connected to the Internet map service API through the GPS positioning system, and combined with the real-time traffic data platform, it realizes the dynamic acquisition of road condition information; the loading electricity monitoring module is used to monitor and record the power used by the crane when loading; the unloading electricity estimation module is used to calculate the minimum power required for unloading based on the recorded loading power; the power generation distribution module is used to calculate the in-transit charging amount based on the predicted unloading power consumption, existing power, remaining distance and road conditions, and intelligently allocate the power generation power based on the in-transit charging amount to ensure sufficient power when arriving at the destination and not affect the normal driving of the vehicle.

[0008] Furthermore, the power output device of the transport vehicle is a car engine, and the car engine and the generator are connected via a transmission.

[0009] Furthermore, the information acquired by the navigation information acquisition module includes road condition information and mileage information, wherein the road information includes road slope, road type and road smoothness information, combined with data information of the road vehicle driving power database, to integrate the vehicle driving power data of each road section with different road conditions.

[0010] Furthermore, the road vehicle driving power database is integrated by a large number of power sample data of vehicles of different models and different loads passing through the road section. After each transport vehicle passes through the road section, an exclusive vehicle database will be established to query the power requirements of the transport vehicle when traveling on different road sections.

[0011] Furthermore, the loading electricity monitoring module includes a current sensor and a voltage sensor. By installing the current sensor and the voltage sensor in the motor circuit, the current and voltage data are collected in real time, and the total energy consumption of the loading process is calculated by integration.

[0012] Furthermore, when estimating the minimum amount of electricity required for unloading, the unloading electricity estimation module multiplies the electricity used for loading by the correlation coefficient to obtain the electricity required for unloading.

[0013] Furthermore, the initial value of the correlation coefficient is 1, and a correlation coefficient correction model is established to correct the correlation coefficient. The correction process of the correlation coefficient correction model includes the following steps:

[0014] S701. Collect data: Perform operations based on a correlation coefficient of 1, and record the actual power required for unloading E1 and the power consumption recorded during loading E2, and then calculate the correlation coefficient r during this loading and unloading process. The calculation formula is:

[0015]

[0016] S702. Analyze data: Repeat step 1 multiple times to obtain multiple sets of correlation coefficients: r1, r2, r3...r n , where r1 is the correlation coefficient calculated during the first loading and unloading operation; r2 is the correlation coefficient calculated during the second loading and unloading operation; r3 is the correlation coefficient calculated during the third loading and unloading operation. n The correlation coefficient is calculated for the nth loading and unloading operation, and the abnormal data is eliminated;

[0017] S703. Calculate the average value: Calculate the average value of a series of correlation coefficients obtained in step 2. The average value calculation formula is:

[0018]

[0019] As the number of loading and unloading operations increases, r 平均 After being corrected many times, it gradually approaches the true value, r 平均 It will also be corrected as the equipment ages and its working status changes;

[0020] The final revised calculation formula for unloading electricity is:

[0021] E1=E2×r 平均 .

[0022] Furthermore, when calculating the in-transit charging amount, the power generation distribution module adds a redundancy coefficient k to the in-transit charging amount, and obtains a calculation formula for the adjusted in-transit charging amount E: E=k×(E1-E3).

[0023] Furthermore, there are three different situations when the power generation distribution module distributes, including: the distance to the destination is short. After calculation, even if the whole journey is charged at full power, the power cannot meet the demand when arriving at the destination. In this case, power feeding feedback is given to allow the operator to make adjustments in advance; the distance to the destination is long, even if low-power charging is used for part of the time, the demand can be met. In this case, low-power charging is used in the section where the car requires low power until the battery pack is fully charged; the distance to the destination is moderate, and the charging power needs to be distributed to ensure that the power meets the demand while not affecting the power demand for normal driving.

[0024] Furthermore, the charging powers of the battery packs at different road sections are set to P1, P2, P3, P n , then the charging power selected for different sections simultaneously satisfies:

[0025] P1<P 总 -p1;

[0026] P2<P总 -p2;

[0027] P3<P 总 -p3;

[0028] ·

[0029] ·

[0030] ·

[0031] P n <P 总 -p n ;

[0032] as well as:

[0033] P1×T1+P2×T2+P2×T2+···+P n ×T n >E.

[0034] The present invention provides another technical solution: a control method for an electric loading system of a truck crane, comprising the following steps:

[0035] S1. Obtain navigation information: Through the GPS positioning system and Internet map services, combined with the real-time traffic data platform, dynamic acquisition of road condition information is achieved, including road condition information and mileage information;

[0036] S2. Monitoring electricity consumption during loading: Install current sensors and voltage sensors in the motor circuit to collect current and voltage data in real time, and calculate the total energy consumption by integration, so as to monitor and record the amount of electricity used by the crane during loading;

[0037] S3. Estimation of electricity consumption for unloading: Since there is a correlation between the electricity consumption required for unloading and the electricity consumption recorded during loading, a correlation coefficient is first set. The electricity consumption recorded during loading multiplied by the correlation coefficient is the electricity required for unloading. Then, the correlation coefficient is corrected through multiple tests to achieve a more accurate estimate.

[0038] S4. Distribution of power generation: Based on the engine power required for normal driving of the transport vehicle on different sections and the maximum output power of the engine, calculate the maximum power generation of the generator in each section without affecting the normal driving of the transport. Then, calculate the difference between the estimated unloading power and the existing power to replenish the power during the journey. Then, distribute the required power to different sections without affecting the normal driving of the transport vehicle to determine the most appropriate power generation in different sections.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The present invention proposes an electric loading system for a truck crane and a control method thereof. Based on the power consumed by the crane when loading goods, the power required for unloading the same goods is calculated, and the minimum amount of power that needs to be replenished on the way from the loading place to the unloading place is obtained, so as to ensure that there is enough power to carry out the unloading operation when arriving at the destination. At the same time, according to the minimum amount of power that needs to be replenished on the way from the loading place to the unloading place, and the road condition information obtained by the navigation information acquisition module, in combination with the data obtained from the road vehicle driving power database, the charging power in different sections is intelligently allocated, so as to obtain sufficient power to meet the unloading before arriving at the destination without affecting the normal driving of the transport vehicle in each section, so as to minimize the impact of battery pack energy replenishment on the normal driving of the transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 The present invention is a schematic diagram of an electric loading system of a truck crane and a control method thereof. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] like Figure 1 As shown, an electric loading system of a truck crane and a control method thereof, the system includes: a power generation module, an energy storage module, a power module and a display control module.

[0044] 1. The power generation module uses the vehicle's original power output device as a power source, including the gasoline engine and diesel engine of the transport vehicle. When the vehicle is running, the transmission drives the generator to generate electricity.

[0045] 2. The energy storage module adopts a 40kWh battery pack and is equipped with an automatic energy replenishment control system. Based on transmission regulation, the automatic energy replenishment control system includes a navigation information acquisition module, a loading power monitoring module, an unloading power estimation module and a power generation power distribution module.

[0046] 1. The navigation information acquisition module is connected to the Internet map service API through the GPS positioning system, combined with the real-time traffic data platform, to achieve dynamic acquisition of road condition information. The acquired information includes road condition information and mileage information:

[0047] (1) Road condition information: Based on the navigation destination information and the road condition information of the entire route, it includes the uphill and downhill conditions of the road, which are divided into uphill sections, downhill sections, and flat sections; it also includes the road type, which includes expressways, national roads, provincial roads, county roads, rural roads, and unpaved sections; it also includes road congestion section information.

[0048] (2) Mileage information: Based on the navigation information, the mileage and driving speed of the above-mentioned various road conditions are obtained.

[0049] 2. The loading electricity monitoring module is used to monitor and record the amount of electricity used by the crane when loading goods. Current sensors and voltage sensors are installed in the motor circuit to collect current and voltage data in real time, and calculate the total energy consumption by integration. The specific calculation formula is:

[0050] W = ∫(V × I)dt;

[0051] Where ∫ represents integration operation, V is voltage, I is current, and t is time.

[0052] 3. The unloading power estimation module is used to calculate the minimum power required for unloading based on the recorded power used for loading. Since the truck crane is fixed on the transport vehicle, the working environment and workflow are simple and can only be used for loading and unloading of vehicle-borne goods, the main energy consumption is consumed in loading and unloading. The components are relatively simple, and we can get the following formula:

[0053] E1=E2×r;

[0054] Among them, E1 is the electricity required for unloading, E2 is the electricity consumption recorded when loading, and r is the correlation coefficient between the electricity required for unloading E1 and the electricity consumption recorded when loading E2.

[0055] Since the crane unloads the cargo from the carriage to the ground, and loads the cargo from the ground next to the transport vehicle to the vehicle, it needs to overcome the gravitational potential energy of the cargo. Therefore, the power consumed when loading the cargo is usually higher than the power required when unloading the cargo, so the correlation coefficient r will be less than 1. First, we set an initial correlation coefficient r to 1 to ensure that there is enough power for unloading, and then establish a correlation coefficient correction model, including the following steps:

[0056] S1. Collect data: Perform operations based on a correlation coefficient of 1, and record the actual power required for unloading E1 and the power consumption recorded during loading E2, and then calculate the correlation coefficient r during this loading and unloading process. The calculation formula is:

[0057]

[0058] S2. Analyze data: Repeat step 1 multiple times to obtain multiple sets of correlation coefficients: r1, r2, r3, ... n , where r1 is the correlation coefficient calculated during the first loading and unloading operation; r2 is the correlation coefficient calculated during the second loading and unloading operation; r3 is the correlation coefficient calculated during the third loading and unloading operation. n It is the correlation coefficient calculated during the nth loading and unloading operation, and the abnormal data is eliminated.

[0059] S3. Calculate the average value: Calculate the average value of a series of correlation coefficients obtained in step 2. The average value calculation formula is:

[0060]

[0061] As the number of loading and unloading operations increases, r 平均 After being corrected many times, it gradually approaches the true value, r 平均 It will also be corrected as the equipment ages and its working condition changes.

[0062] The final revised calculation formula for unloading electricity is:

[0063] E1=E2×r 平均 ;

[0064] 4. The power distribution module is used to intelligently distribute the power generation according to the predicted unloading power consumption, the existing power, the remaining distance and the road conditions, so as to ensure that the power is sufficient when arriving at the destination, and the normal driving of the vehicle is not affected. The engine power required for normal driving of the vehicle under different road conditions is different. For example, the driving speed is different on highways, ordinary roads and unpaved roads, and the power requirements are also different. The engine power required for safe driving on uphill sections, downhill sections and flat sections is also different. The transport vehicle may experience a variety of road conditions on the route to the unloading destination after loading the goods. According to different road conditions, the charging power of the crane battery pack is flexibly adjusted between full power and stop charging, so that the transport vehicle reduces the charging power or stops charging when driving on sections with high power requirements, and increases the charging power when driving on sections with low power requirements such as downhill sections to ensure that the battery pack power can meet the demand when arriving at the destination.

[0065] Then, in order to meet the unloading demand after arriving at the destination, the calculation formula for the minimum amount of charging E required on the way is:

[0066] E = E1-E3;

[0067] E1 is the amount of electricity required for unloading, and E3 is the existing amount of electricity in the battery pack.

[0068] However, in order to avoid unexpected situations, a redundancy factor k is usually set artificially. The calculation formula for the in-transit charging amount E after adjustment is:

[0069] E = k × (E1-E3);

[0070] There are three situations here:

[0071] (1) The distance to the destination is short. After calculation, even if the battery is charged at full power throughout the journey, the battery cannot reach the required power level when arriving at the destination. In this case, the battery is fed back so that the operator can make adjustments in advance.

[0072] (2) If the distance to the destination is long, even if low-power charging can only meet the demand for part of the time, in this case, the car is charged at low power on the road section where the power demand is low until the battery pack is fully charged. This ensures that the battery is fully charged without affecting normal driving, and low-power charging also protects the battery.

[0073] (3) The distance to the destination is moderate, and the charging power needs to be allocated to ensure that the power reaches the demand and does not affect the power demand for normal driving. In this case, the power is allocated according to various road conditions and the mileage of different road conditions to ensure that when driving under different road conditions, the charging power is adjusted to an appropriate value without affecting the normal driving demand. After arriving at the destination, the total amount of power charged under different road conditions needs to be greater than E. The maximum output power of the transport vehicle engine is P 总 The charging powers of the battery packs under different road sections are P1, P2, P3...P n The engine output power required for normal driving under different road conditions is p1, p2, p3...p n , the corresponding driving times under different road conditions are T1, T2, T3...T n .

[0074] Among them, the driving time under different road conditions is T1, T2, T3...T n It comes from the navigation information acquisition module. The battery pack charging power under different road conditions is P1, P2, P3...P n , comes from the road vehicle driving power database, which is composed of a large number of power sample data of different models and loads of vehicles passing through the section. After each transport vehicle passes through the section, a dedicated vehicle database will be established to make the power data more accurate.

[0075] Here we need to meet the following requirements at the same time:

[0076] P1<P 总 -p1;

[0077] P2<P 总 -p2;

[0078] P3<P 总 -p3;

[0079] ·

[0080] ·

[0081] ·

[0082] P n <P 总 -p n ;

[0083] as well as:

[0084] P1×T1+P2×T2+P2×T2+···+P n ×T n >E;

[0085] In this way, the charging power of each road section is intelligently controlled while satisfying the above two formulas at the same time, so as to simultaneously meet the two conditions of not affecting the normal driving operation of the vehicle and replenishing the energy reserves as much as possible for subsequent unloading operations.

[0086] 3. The power module is composed of an electric motor and a hydraulic pump. The battery drives the electric motor to drive the hydraulic pump, and the hydraulic pump drives the crane to perform various operating functions of the crane.

[0087] Fourth, the display control module is used to monitor the vehicle status and adjust the operating parameters in real time. It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0088] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An electric loading system for a truck crane, characterized in that: include: Power generation module, energy storage module, power module and display control module; The power generation module uses the vehicle's original power output device as a power source to drive the generator to generate electricity; the energy storage module uses a 40kWh battery pack and is equipped with an automatic energy replenishment control system; the power module consists of an electric motor and a hydraulic pump, the battery drives the electric motor to drive the hydraulic pump, and the hydraulic pump drives the crane to perform various operating functions of the crane; the display control module is used to monitor the vehicle status in real time and adjust the operating parameters; The energy replenishment automatic control system used in the energy storage module includes a navigation information acquisition module, a loading electricity monitoring module, an unloading electricity estimation module and a power generation distribution module; the navigation information acquisition module is connected to the Internet map service API through the GPS positioning system, and combined with the real-time traffic data platform, it realizes the dynamic acquisition of road condition information; the loading electricity monitoring module is used to monitor and record the power used by the crane when loading; the unloading electricity estimation module is used to calculate the minimum power required for unloading based on the recorded loading power; the power generation distribution module is used to calculate the in-transit charging amount based on the predicted unloading power consumption, existing power, remaining distance and road conditions, and intelligently allocate the power generation power based on the in-transit charging amount to ensure sufficient power when arriving at the destination and not affect the normal driving of the vehicle.

2. The electric loading system for a truck crane according to claim 1, characterized in that: The power output device of the transport vehicle is an automobile engine, and the automobile engine and the generator are connected through a transmission.

3. The electric loading system for a truck crane according to claim 1, characterized in that: The information acquired by the navigation information acquisition module includes road condition information and mileage information, wherein the road information includes road slope, road type and road smoothness information, combined with the data information of the road vehicle driving power database, integrates the vehicle driving power data of each road section with different road conditions.

4. The electric loading system for a truck crane as claimed in claim 3, characterized in that: The road vehicle driving power database is integrated from a large number of power sample data of vehicles of different models and loads passing through the road section. After each transport vehicle passes through the road section, an exclusive vehicle database will be established to query the power requirements of the transport vehicle when traveling on different road sections.

5. The electric loading system for a truck crane according to claim 1, characterized in that: The loading electricity monitoring module includes a current sensor and a voltage sensor. By installing the current sensor and the voltage sensor in the motor circuit, the current and voltage data are collected in real time, and the total energy consumption of the loading process is calculated by integration.

6. The electric loading system for a truck crane according to claim 1, characterized in that: When estimating the minimum amount of electricity required for unloading, the unloading electricity estimation module multiplies the amount of electricity used for loading by the correlation coefficient to obtain the amount of electricity required for unloading.

7. The electric loading system for a truck crane as claimed in claim 6, characterized in that: The initial value of the correlation coefficient is 1, and a correlation coefficient correction model is established to correct the correlation coefficient. The correction process of the correlation coefficient correction model includes the following steps: S701. Collect data: Perform operations based on a correlation coefficient of 1, and record the actual power required for unloading E1 and the power consumption recorded during loading E2, and then calculate the correlation coefficient r during this loading and unloading process. The calculation formula is: S702. Analyze data: Repeat step 1 multiple times to obtain multiple sets of correlation coefficients: r1, r2, r3...r n , where r1 is the correlation coefficient calculated during the first loading and unloading operation; r2 is the correlation coefficient calculated during the second loading and unloading operation; r3 is the correlation coefficient calculated during the third loading and unloading operation; r n The correlation coefficient is calculated for the nth loading and unloading operation, and the abnormal data is eliminated; S703. Calculate the average value: Calculate the average value of a series of correlation coefficients obtained in step 2. The average value calculation formula is: As the number of loading and unloading operations increases, r 平均 After being corrected many times, it gradually approaches the true value, r 平均 It will also be corrected as the equipment ages and its working status changes; The final revised calculation formula for unloading electricity is: E1=E2×r 平均 。 8. The electric loading system for a truck crane as claimed in claim 1, characterized in that: There are three different situations when the power generation distribution module distributes, including: the distance to the destination is short. After calculation, even if the whole journey is charged at full power, the power cannot meet the demand when arriving at the destination. In this case, power feeding feedback is given to allow the operator to make adjustments in advance; the distance to the destination is long, even if low-power charging is used for part of the time, the demand can be met. In this case, low-power charging is used in the section where the car requires low power until the battery pack is fully charged; the distance to the destination is moderate, and the charging power needs to be distributed to ensure that the power meets the demand while not affecting the power demand for normal driving.

9. The electric loading system for a truck mounted crane as claimed in claim 4, characterized in that: The charging power of the battery pack in different road sections is set to P1, P2, P3...P n , then the charging power selected for different sections simultaneously satisfies: as well as: P1×T1+P2×T2+P2×T2+···+P n ×T n >And。 10. A control method for an electric loading system of a truck mounted crane according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Obtain navigation information: Through the GPS positioning system and Internet map services, combined with the real-time traffic data platform, dynamic acquisition of road condition information is achieved, including road condition information and mileage information; S2. Monitoring electricity consumption during loading: Install current sensors and voltage sensors in the motor circuit to collect current and voltage data in real time, and calculate the total energy consumption by integration, so as to monitor and record the amount of electricity used by the crane during loading; S3. Estimation of electricity consumption for unloading: Since there is a correlation between the electricity consumption required for unloading and the electricity consumption recorded during loading, a correlation coefficient is first set. The electricity consumption recorded during loading multiplied by the correlation coefficient is the electricity required for unloading. Then, the correlation coefficient is corrected through multiple tests to achieve a more accurate estimate. S4. Distribution of power generation: Based on the engine power required for normal driving of the transport vehicle on different sections and the maximum output power of the engine, calculate the maximum power generation of the generator in each section without affecting the normal driving of the transport. Then, calculate the difference between the estimated unloading power and the existing power to replenish the power during the journey. Then, distribute the required power to different sections without affecting the normal driving of the transport vehicle to determine the most appropriate power generation in different sections.

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